Simulation 3D Scene Configuration

Scene configuration for 3D simulation environment

  • Library:
  • Automated Driving Toolbox / Simulation 3D

    Vehicle Dynamics Blockset / Vehicle Scenarios / Sim3D / Sim3D Core

Description

The Simulation 3D Scene Configuration block implements a 3D simulation environment that is rendered by using the Unreal Engine® from Epic Games®. Automated Driving Toolbox™ integrates the 3D simulation environment with Simulink® so that you can query the world around the vehicle and virtually test perception, control, and planning algorithms.

Note

The Simulation 3D Scene Configuration block must execute after blocks that send data to the 3D environment and before blocks that receive data from the 3D environment. To verify the execution order of such blocks, right-click the blocks and select Properties. Then, on the General tab, confirm these Priority settings:

  • For blocks that send data to the 3D environment, such as Simulation 3D Vehicle with Ground Following blocks, Priority must be set to -1. That way, these blocks prepare their data before the 3D environment receives it.

  • For the Simulation 3D Scene Configuration block in your model, Priority must be set to 0.

  • For blocks that receive data from the 3D environment, such as Simulation 3D Camera blocks, Priority must be set to 1. That way, the 3D environment can prepare the data before these blocks receive it.

For more information about execution order, see How 3D Simulation for Automated Driving Works.

Parameters

expand all

Simulation Configuration

Specify the name of the 3D scene in which to simulate. To learn more about a scene, see these reference pages:

Configure the placement of the virtual camera that displays the scene in the AutoVrtlEnv window during simulation.

  • If your model contains no Simulation 3D Vehicle with Ground Following blocks, then during simulation, you view the scene from a camera positioned at the scene origin.

  • If your model contains at least one vehicle block, then by default, you view the scene from behind the first vehicle that was placed in your model. To change the view to a different vehicle, set Scene view to the name of that vehicle. The Scene view parameter list is populated with all the Name parameter values of the vehicle blocks contained in your model.

If you add a Simulation 3D Scene Configuration block to your model before adding any vehicle blocks, the virtual camera remains positioned at the scene. To reposition the camera to follow a vehicle, update this parameter.

When Scene view is set to a vehicle name, during simulation, you can change the location of the camera around the vehicle.

To change the camera views in the AutoVrtlEnv window, use these key commands.

KeyCamera View

1

Back left

2

Back

3

Back right

4

Left

5

Internal

6

Right

7

Front left

8

Front

9

Front right

0

Overhead

Sample time, Ts, of the visualization engine, specified as a scalar greater than or equal to 0.01. Units are in seconds.

The graphics frame rate of the visualization engine is the inverse of the sample time. For example, if Sample time is 1/60, then the visualization engine solver tries to achieve a frame rate of 60 frames per second. However, the real-time graphics frame rate is often lower due to factors such as graphics card performance and model complexity.

By default, blocks that receive data from the visualization engine, such as Simulation 3D Camera blocks, inherit this sample rate.

Introduced in R2019b